JP2004282972A - Pulse generation ic for motor control - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pulse generation IC for motor control capable of smooth continuous operation without any interruption during the operation in continuously performing a plurality of positioning operations. <P>SOLUTION: This pulse generation IC for motor control comprises: a first speed pattern for performing constant-speed driving to a target position after a motor 10 is started at a constant speed as a speed pattern of the positioning operation; a second speed pattern for performing constant-speed driving to a target position or a deceleration starting position after acceleration of the motor 10 is started; and a third speed pattern for performing constant-speed driving to the deceleration starting position after the motor 10 is started at a constant speed and then for performing deceleration and stopping. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a motor control pulse generation IC for positioning a pulse drive motor (stepping motor, servomotor, etc.) in a specified speed pattern, and more particularly to a motor control pulse capable of continuously executing a plurality of positioning operations. It relates to the generated IC.
[0002]
[Prior art]
With the spread of pulse drive motors (hereinafter simply referred to as motors) represented by stepping motors, various motor control pulse generation ICs for generating the drive pulses have been proposed. According to this kind of motor control pulse generation IC, a desired motor drive pulse is output only by inputting control data (operation command, target position data, operation speed data, etc.), so that the motor can be easily driven. It becomes possible to control.
[0003]
Some of the motor control pulse generation ICs have a block control function of continuously executing a plurality of positioning operations (for example, see Patent Document 1). The block control function is executed by setting control data of the next operation in a pre-register (pre-buffer) in advance. The speed pattern of each positioning operation in this function includes (A) in FIG. There are two types shown in (B).
[0004]
The first speed pattern shown in FIG. 6A is a speed pattern for driving the motor at a constant speed from the start position to the target position, and the second speed pattern shown in FIG. This is a speed pattern in which the motor is driven at a constant speed to a deceleration start position after the start, and then decelerated and stopped. Therefore, when positioning the motor at a high speed, the vibration at the time of start and at the time of stop can be suppressed by designating the second speed pattern. In the second speed pattern, the motor can be stopped without deceleration (hereinafter, referred to as constant speed stop) by setting the set value of the deceleration start position (relative position based on the target position) to 0. It has become.
[0005]
The block control function is used, for example, when performing an interpolation operation continuously. The interpolation operation is performed by, for example, controlling the X-axis motor and the Y-axis motor of an XY motion device (such as a positioning table) in a correlated manner, so that a linear motion (linear interpolation function) in an arbitrary direction on the XY coordinates can be performed. An arc operation (circle interpolation function) is made possible. If the block control function and the interpolation function are executed in combination, an operation pattern that smoothly turns around a corner can be made as shown in FIG.
[0006]
When the above operation pattern is performed at high speed, it is desirable that the motor be started to accelerate in the first block (linear interpolation A) and decelerated and stopped in the last block (linear interpolation B). However, since the conventional motor control pulse generation IC has only two types of speed patterns for block control as described above, there is a problem that a stop operation occurs between blocks and a smooth continuous operation cannot be performed.
[0007]
That is, as shown in FIG. 8, if the linear interpolation A is a second speed pattern (acceleration start, constant speed stop) and the circular interpolation is a first speed pattern (constant speed start, constant speed stop), the circular interpolation is completed. Smooth operation is possible up to the position, but when linear interpolation B is the second speed pattern (acceleration start, deceleration stop), a stop operation is inserted between circular interpolation and linear interpolation B, and smooth continuous operation is performed. Becomes difficult.
[0008]
[Patent Document 1]
JP-A-8-320719 (page 3, FIG. 1)
[0009]
[Problems to be solved by the invention]
The present invention has been conceived in order to eliminate the above-mentioned problems, and is capable of performing a positioning operation of a pulse drive motor at a specified speed pattern and performing a plurality of positioning operations continuously. However, it is possible to eliminate the need to use the second speed pattern for the last block (linear interpolation B), and to move around a corner from conventional linear interpolation to arc interpolation, in contrast to the linked operation from arc complementation to linear interpolation. It can be performed with the same linked operation as the pattern, so that even if the motor is decelerated and stopped at the end of the continuous positioning operation, it is possible to avoid a stop operation between positioning operation blocks, and a smooth continuous positioning operation Can be executed, and in a series of operations from the operation start to the operation completion, the speed according to the ideal trapezoidal curve of acceleration-constant speed-deceleration is obtained. Turn can perform block control with the operation pattern is an object to provide a pulse generating IC motor control can increase the alleviating durability load to the motor be performed at high speed.
[0010]
[Means for Solving the Problems]
In order to solve the above problems, a motor control pulse generation IC according to the present invention is a motor control pulse generation IC capable of performing a positioning operation of a pulse drive motor at a specified speed pattern and continuously executing a plurality of positioning operations. In the positioning operation, the pulse drive motor, after a constant speed start, a first speed pattern to drive at a constant speed to a target position, and the pulse drive motor, after acceleration start, until the target position or deceleration start position In addition to the second speed pattern to be driven at a constant speed, the pulse drive motor, after the start at a constant speed, is driven at a constant speed to the deceleration start position, after that there is provided a third speed pattern to stop deceleration is there.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a motor control pulse generation IC illustrating an embodiment of the present invention as a preferred embodiment will be described in detail with reference to the drawings. FIG. 1 is a block diagram of a motor control system using a motor control pulse generation IC according to an embodiment of the present invention. As shown in FIG. 1, the motor control system 1 includes a motor 10, a motor control pulse generation IC 20 for generating a drive pulse for the motor 10, and a CPU 30 for inputting control data to the motor control pulse generation IC 20. It is provided with. Reference numeral 40 in FIG. 1 denotes a drive circuit that operates by the output of the motor control pulse generation IC 20. Reference numeral 11 denotes an operation of the motor 10 based on a command monitored by a sensor 12 such as an encoder (or resolver). This is a feedback loop that outputs an operation result to the drive circuit 40.
[0012]
The motor 10 is a pulse drive motor such as a stepping motor or a servo motor. The stepping motor employed in the present embodiment rotates at a speed proportional to the frequency of the drive pulse, and the amount of rotation is proportional to the number of drive pulses. It has the characteristic of doing.
[0013]
The CPU 30 includes, for example, a 16-bit data input / output terminal and a 4-bit address output terminal. The data input / output terminal inputs / outputs control data to / from the motor control pulse generation IC 20, and the address output terminal is used to specify a write destination and a read destination of the control data. The control data output by the CPU 30 includes an operation command, a register control command, register write data, and the like.
[0014]
The operation command is a command for specifying the operation of the motor 10, such as a start command (first to third speed patterns), a stop command, a speed change command, and the like. The register write data includes target position (movement amount) data, initial speed data (FL speed: initial acceleration start speed), target speed data (FH speed: constant speed drive target speed), acceleration rate data, deceleration rate data, The data includes deceleration start position data, interpolation operation condition data, and the like, and a register to be written is specified by a register control command.
[0015]
FIG. 2 is a block diagram of the motor control pulse generation IC according to the embodiment of the present invention. As shown in this figure, the motor control pulse generation IC 20 includes a CPU interface unit 21, a register unit 22, a controller unit 23, a pulse generation unit 24, a counter unit 25, an input / output line interface unit 26, and the like.
[0016]
The CPU interface unit 21 includes a command storage unit that stores operation commands, register control commands, and the like output by the CPU 30, and an input / output buffer that temporarily stores register write data output by the CPU 30, and the like. Is written to a predetermined address of the register section 22 based on a register control command. The operation command stored in the input / output buffer is immediately sent to the controller unit 23 when the motor is stopped, and stands by for the next operation when the motor is operating.
[0017]
The register unit 22 includes various registers that store and hold motor operation parameters such as target position data, initial speed data, operation speed data, acceleration rate data, deceleration rate data, deceleration start position data, and interpolation condition data. Each register is connected to a first pre-register and a second pre-register that perform a FIFO operation (first-in first-out operation) when the motor operation is completed (one operation block is completed). The data of the operation and the operation one after another can be written in advance. This makes it possible to continuously execute a plurality of positioning operations having different operating conditions (block control function).
[0018]
The controller unit 23 is a unit that instructs the pulse generation unit 24 to generate a motor drive pulse based on an operation command, a register value, a counter value, and the like. The pulse generation unit 24 generates a motor drive pulse having a speed and a movement amount according to various parameters in accordance with an instruction from the controller unit 23, and sends the generated motor drive pulse to the motor 10 (drive circuit 40) via the input / output line interface unit 26. This is the output part. The counter unit 25 is a unit that counts a motor drive pulse output from the pulse generation unit 24 or a motor rotation detection pulse fed back from the motor 10.
[0019]
FIG. 3 is an explanatory diagram showing a speed pattern of the motor control pulse generation IC according to the embodiment of the present invention. As shown in this figure, there are three types of speed patterns of the positioning operation in the motor control pulse generation IC 20. The first speed pattern shown in FIG. 3A is a speed pattern that drives the motor 10 at a constant speed from the start position to the target position. The positioning operation based on this speed pattern can be executed by inputting a first start command, and the operation speed register value is applied to the constant speed driving speed (FH speed).
[0020]
The second speed pattern shown in FIG. 3B is a speed pattern in which the motor 10 is driven at a constant speed to the deceleration start position after the acceleration is started, and then is decelerated and stopped. In addition, vibration at the time of start and at the time of stop can be suppressed. The positioning operation based on this speed pattern can be executed by inputting a second start command. The initial speed register value is applied to the acceleration start initial speed (FL speed), and the operation speed register value is applied to the constant speed driving speed (FH speed). Is applied. In this speed pattern, a deceleration start position (relative position with respect to the target position) can be set in the deceleration start position register. If this set value is set to 0, the motor 10 is stopped at a constant speed without deceleration. Become.
[0021]
The third speed pattern shown in FIG. 3C is a speed pattern in which the motor 10 is driven at a constant speed after a constant speed start to a deceleration start position, and then decelerated and stopped. The positioning operation based on this speed pattern can be executed by inputting a third start command, and the operation speed register value is applied to the constant speed driving speed (FH speed). Also in this speed pattern, the deceleration start position can be set in the deceleration start position register.
[0022]
As described above, since the motor control pulse generation IC 20 of the present invention has the third speed pattern in addition to the conventional two types of speed patterns, for example, when performing the continuous positioning operation shown in FIG. The motor 10 can be driven in the speed pattern as shown. That is, when the linear interpolation A, the circular interpolation and the linear interpolation B are continuously performed at a high speed, the first operation block (linear interpolation A) is changed to the second speed pattern (deceleration start position register value = 0) and the intermediate operation. The block (circular interpolation) is a first speed pattern, and the last operation block (linear interpolation B) is a third speed pattern (deceleration start position register value> 0). Thus, the motor 10 can be smoothly and continuously operated without a stop operation between the operation blocks.
[0023]
Next, a configuration for adding a third speed pattern to the motor control pulse generation IC 20 will be described with reference to a conventional example. FIG. 5 is a block diagram showing a main part of a motor control pulse generation IC according to an embodiment of the present invention, and FIG. 9 is a block diagram showing a main part of a motor control pulse generation IC according to a conventional example. As shown in these figures, the pulse generation unit 24 is provided with an acceleration / deceleration control unit 27 for performing acceleration start of the second speed pattern and the like. The acceleration / deceleration control unit 27 compares a target speed register value with a target speed register 27a for setting a target speed of the motor 10, a speed counter 27b for determining a current motor driving speed, and a speed counter value. The counter 27b is provided with a comparator 27c that outputs an addition signal or a subtraction signal.
[0024]
When the positioning operation of the second speed pattern is performed, the operation speed register value (FH speed) is set in the target speed register 27a, and the initial speed register value (FL speed) is loaded in the speed counter 27b. In this case, since the comparator 27c adds the speed counter value at a predetermined acceleration rate (acceleration rate register value) until the FH speed is reached, the motor 10 starts accelerating at a predetermined acceleration and then drives at a constant speed. Will be. The above configuration is the same as that of the conventional acceleration / deceleration control unit 27.
[0025]
As shown in FIG. 5, the acceleration / deceleration control unit 27 of the present embodiment selectively loads the initial speed register value or the operating speed register value to the speed counter 27b according to the select signal (speed pattern selection signal). 27d. That is, when the selector 27d inputs the select signal corresponding to the second speed pattern, the selector 27d loads the initial speed register value into the speed counter 27b and starts accelerating the motor 10, while inputting the select signal corresponding to the third speed pattern. Then, the operation speed register value is loaded into the speed counter 27b, and the motor 10 is started at a constant speed. Thus, the third speed pattern described above can be added only by providing the selector 27d in the acceleration / deceleration control unit 27.
[0026]
In the embodiment of the present invention configured as described above, when a plurality of positioning operations are continuously performed at a high speed, the motor 10 is accelerated in the first operation block in order to suppress vibration at the time of start and stop. Starting and in the last operation block, it is required to decelerate and stop the motor 10. The speed pattern of the positioning operation by the conventional motor control pulse generation IC includes a first speed pattern in which the motor 10 is driven at a constant speed after the start at a constant speed, and a speed pattern in which the motor 10 is driven at the target position or deceleration after the acceleration is started. Since there are two types, the second speed pattern that drives at a constant speed to the start position, when the second speed pattern is specified in the last operation block, a stop operation is entered during the continuous operation, and it is difficult to perform a smooth continuous operation. However, the motor control pulse generation IC 20 of the present invention has a third speed that, in addition to the above two types of speed patterns, drives the motor 10 at a constant speed to a deceleration start position after a constant speed start, and then decelerates to a stop. By providing the third speed pattern in the last operation block to provide a pattern, Can be performed with a similar interlocking operation and operation pattern around the corner to the arc complementary from linear interpolation, it is possible to perform a smooth continuous operation stopping operation does not fall in the middle of continuous operation. Therefore, in a series of operations from the operation start to the operation completion, block control can be performed with a speed pattern based on an ideal trapezoidal curve of acceleration-constant speed-deceleration. The load can be reduced and the durability can be increased.
[0027]
The acceleration / deceleration control unit 27 of the motor control pulse generation IC 20 includes a target speed register 27a in which a target speed of the motor 10 is set, a speed counter 27b for determining a current motor drive speed, a target speed register value and a speed counter. The speed counter 27b is provided with a comparator 27c that outputs an addition signal or a subtraction signal to compare the value with a value. The operation speed register value (constant speed drive target speed) is set in the target speed register 27a. The initial speed register value (acceleration start initial speed) is loaded into the speed counter 27b and the acceleration start of the second speed pattern is executed. Either the initial speed register value or the operation speed register value is set to the speed counter value. 27b, and further includes a selector 27d for selectively loading the data to the 27b. For switching between the speed pattern and the third speed pattern. Thus, the third speed pattern can be added only by providing the selector 27d in the acceleration / deceleration control unit 27.
[0028]
【The invention's effect】
The present invention relates to a motor control pulse generation IC 20 capable of performing a positioning operation of a pulse drive motor 10 in a designated speed pattern and continuously executing a plurality of positioning operations, wherein the positioning operation is performed by the pulse drive motor. In addition to the first speed pattern for driving the pulse drive motor 10 at a constant speed to the target position or the deceleration start position after the start of acceleration, a second speed pattern for driving the pulse drive motor 10 at a constant speed to the target position after the start of the constant speed. The pulse drive motor 10 is driven at a constant speed to a deceleration start position after a constant speed start, and then provided with a third speed pattern for decelerating and stopping.
Eliminates the need to use the second speed pattern for the last block (linear interpolation B), while allowing the pulse drive motor to perform the positioning operation at the specified speed pattern and performing a plurality of positioning operations continuously. As a result, for the linked operation from the arc complement to the straight line complement, it becomes possible to perform the linked operation similar to the conventional operation pattern around the corner from the straight line complement to the circular complement, and at the end of the continuous positioning operation. Even if the motor is decelerated and stopped, it is possible to prevent the stop operation from entering between the positioning operation blocks and perform a smooth continuous positioning operation, and thus, in a series of operations from the operation start to the operation completion, Block control can be performed with a speed pattern based on an ideal trapezoidal curve of acceleration-constant speed-deceleration. To reduce the load on the performed even motor can be enhanced durability.
[Brief description of the drawings]
FIG. 1 is a block diagram of a motor control system using a motor control pulse generation IC according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a motor control pulse generation IC according to the embodiment of the present invention.
FIG. 3 is an explanatory diagram showing a speed pattern of a motor control pulse generation IC according to the embodiment of the present invention.
FIG. 4 is an operation explanatory view of the motor control pulse generation IC according to the embodiment of the present invention.
FIG. 5 is a block diagram showing a main part of a motor control pulse generation IC according to the embodiment of the present invention.
FIG. 6 is an explanatory diagram showing a speed pattern of a motor control pulse generation IC according to a conventional example.
FIG. 7 is an explanatory diagram illustrating an example of block control (continuous interpolation operation).
FIG. 8 is an explanatory diagram of an operation of a motor control pulse generation IC according to a conventional example.
FIG. 9 is a block diagram showing a main part of a motor control pulse generation IC according to a conventional example.
[Explanation of symbols]
1 Motor control system 10 Motor 20 Pulse generation IC for motor control
21 Interface unit 22 Register unit 23 Controller unit 24 Pulse generation unit 25 Counter unit 26 Input / output line interface unit 27 Acceleration / deceleration control unit 27a Target speed register 27b Speed counter 27c Comparator 27d Selector 30 CPU
40 drive circuit

Claims (2)

A motor control pulse generation IC capable of performing a positioning operation of a pulse drive motor at a designated speed pattern and continuously executing a plurality of positioning operations, wherein the positioning operation starts the pulse drive motor at a constant speed. After, a first speed pattern to drive at a constant speed to the target position, the pulse drive motor, after acceleration start, in addition to a second speed pattern to drive at a constant speed to the target position or deceleration start position, the pulse drive motor, A pulse generation IC for motor control, comprising a third speed pattern for driving at a constant speed to a deceleration start position after a constant speed start, and thereafter decelerating and stopping. 2. The motor control pulse generation IC according to claim 1, wherein a target speed register in which a target speed of the pulse drive motor is set, a speed counter for determining a current motor drive speed, and a target speed register value and a speed counter value. Comparing the speed counter with a comparator for outputting an addition signal or a subtraction signal, setting a constant speed drive target speed in the target speed register, and loading an acceleration start initial speed in the speed counter, In executing the acceleration start of the two-speed pattern, a selector for selectively loading either the acceleration start initial speed or the constant speed drive target speed into the speed counter is provided, and the selector provides the second speed pattern and the second speed pattern. A motor control pulse generation IC which switches between three speed patterns.

Images